KR100576315B1 - A Swimming Pool Cleaning Robot Having Obstacle Sensing Funcine - Google Patents

Abstract

The present invention relates to a swimming pool cleaning robot having an obstacle sensing structure according to the water flow, the swimming pool moving in the water while detecting the presence or absence of obstacles by adjusting the driving direction based on the infrared light sensor provided on the surface of the housing CLAIMS 1. A cleaning robot comprising: a rotating shaft penetratingly installed to a side of a housing; An inclined plate integrally provided on one side of the rotating shaft to the outside of the housing and inclined upward by water flow; An inclined piece integrally provided at the other side of the rotating shaft inwardly of the housing and interlocked with the inclined plate; A motion detection sensor installed in proximity to the inclined piece and detecting a movement of the inclined piece; And a controller configured to adjust a driving direction of the driving unit according to a detection signal electrically connected to the motion detection sensor.

Slope, Slope, Water Flow, Motion Detection, Obstacle, Hull, Pool, Cleaning, Robot

Description

Swimming Pool Cleaning Robot having Obstacle Sensing Structure by Water Flow {A Swimming Pool Cleaning Robot Having Obstacle Sensing Funcine}

1 is a perspective view of a cleaning robot according to the present invention;

2 is a block diagram illustrating an obstacle sensing structure according to the present invention.

3 is a block diagram showing an operating state of the obstacle detecting structure according to the present invention;

4 is a state diagram used of the cleaning robot according to the present invention.

<Description of the code | symbol about the principal part of drawing>

100: housing 100a: handle

110: cable 200: drive belt

300: infrared light sensor 400: rotation axis

410: inclined plate 410a: weight

420: inclined piece 500: motion detection sensor

600: controller 700: drive unit

1000: Cleaning Robot 2000: Inner Wall

3000: ladder

The present invention relates to a cleaning robot for moving in water and filtering fresh water in a swimming pool, and more specifically, to integrally fix an inclined piece located inside the housing through an inclined plate and a rotating shaft that are raised and lifted by the water flow generated by the movement of the robot. The present invention relates to a swimming pool cleaning robot having an obstacle sensing structure according to the flow of a structure capable of detecting a movement of an inclined piece interlocking with an inclined plate and determining the presence / absence of an obstacle.

In general, the cleaning robot, in addition to the separate cleaning device for cleaning is equipped with a sensing device for setting the other movement path by avoiding this by detecting the obstacle.

Depending on the difference in the place where the cleaning robot is put in, there may be a case in which the cleaning equipment different from the dust collecting apparatus is attached. An example of this is a robot that moves on the bottom of a pool and is structured to absorb / filter pool fresh water.

The swimming pool cleaning robot has a watertight structure added to it by moving while moving underwater, unlike a general cleaning robot operating in the ground, and has a device structure for absorption and absorption rather than dust absorption.

In addition, the infrared light sensor is provided on all sides of the housing to have a sensing structure for obstacles, in particular, the inner wall of the swimming pool, and when it encounters an obstacle while moving, it detects this and resets the movement path to move in a different movement direction.

Here, the sensing structure of the conventional swimming pool cleaning robot is composed of an infrared light sensor and a controller connected to the sensor and controlling a driving device (such as a driving motor and a caterpillar) based on the detection signal.

On the other hand, due to the arrangement structure of the infrared light sensor, it is possible to mainly detect obstructions, such as an obstacle such as an inner wall of a swimming pool. Because of this, the detection of the surface obstacles is excellent, but when the hull-shaped obstacles, such as sewing, chairs or tables, legs, ladders, etc., which are located at the point away from the sensor attachment part, may not be detected properly.

That is, when the hull-shaped obstacle is located in front of the moving path, it is properly sensed to change the direction, but when it is located on the side of the robot, it is difficult to detect it, and in this case, accurate sensing data can be secured. Since the driving of the driving device is continued without changing the direction, it causes the failure of the device.

In addition, since the cleaning robot is a wired structure connected to an external power source by a cable, when the drive continues, the robot may hover in place and the cable may be wound around the obstacle or the housing of the robot.

In addition, a point such as a corner of the pool also causes the side of the robot to be caught on the wall, so that the final sensing point is far away and the sensing is not made, thus turning the wheel.

This disadvantage is due to a structural problem inherent in only a sensing structure capable of detecting an obstructed obstacle. However, a sensing error may occur because not only an inner wall constituting the swimming pool exists in the pool but also obstacles having a hull shape such as a ladder for stepping out of the pool and a step for stepping up and climbing out of the pool. As described above, even if there are no hull obstacles, the corner edges formed by the inner walls are hulls and not hulls, so if the conventional cleaning robot faces them, the bumps will be obvious.

Therefore, there is an urgent need for the development of a cleaning robot having a structure capable of sensing a blind spot generated in a hull shape obstacle and a blind spot in addition to an obstruction-shaped obstacle detecting structure.

Therefore, the present invention has been made in view of the above-described conventional problems, the first object of the present invention is provided with a sensing structure for hull-shaped obstacles (steps, ladders, etc.) to the water flow that can be more smoothly cleaning work It is to provide a swimming pool cleaning robot having an obstacle detection structure according to.

The second object of the present invention is a swimming pool cleaning robot having a structure capable of detecting the presence / absence of obstacles based on the motion of the inclined plate and the inclined piece of the structure being raised by the water flow generated in the water according to the robot movement. To provide.

The object of the present invention, in the swimming pool cleaning robot that moves underwater while sensing the presence / absence of obstacles by adjusting the driving direction based on the infrared light sensor provided on the surface of the housing,

A rotating shaft installed through the side of the housing to enable rotation;

An inclined plate integrally provided on one side of the rotating shaft to the outside of the housing and inclined upward by water flow;                         

An inclined piece integrally provided at the other side of the rotating shaft inwardly of the housing and interlocked with the inclined plate;

A motion detection sensor installed in proximity to the inclined piece and detecting a movement of the inclined piece; And

It is achieved by a swimming pool cleaning robot having an obstacle sensing structure according to the water flow; a controller for controlling the driving direction of the drive unit in accordance with the detection signal is electrically connected to the motion detection sensor.

Here, the inclined plate is preferably larger than the inclined piece.

The inclined plate is preferably disposed on the same plane as the inclined piece.

In addition, the inclined plate is preferably further provided with a weight added to the lower edge.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and the preferred embodiments associated with the accompanying drawings.

Next, a swimming pool cleaning robot having an obstacle sensing structure according to the water flow according to the present invention will be described with reference to the accompanying drawings.

1 is a perspective view of a cleaning robot according to the present invention.

As shown in FIG. 1, the cleaning robot 1000 has a structure including an inclined plate 410 which is inclined upward according to the flow of water and an inclined piece 420 that interlocks with the cleaning robot 1000. If there is no occurrence of the inclination plate 410 and the inclined piece 420 is a structure that determines that there is an obstacle by detecting the motion sensor 500 falling vertically.

To this end, the cleaning robot 1000 includes a rotating shaft 400 provided at both sides of the housing 100, an inclined plate 410 and an inclined piece 420 provided at both sides of the respective rotating shafts 400, and It comprises a motion detection sensor 500 for detecting the movement of the inclined piece 420 and a controller 600 electrically connected to the motion detection sensor 500.

The housing 100 has a handle 100a at the center of the flat top, and a power supply cable 110 is connected through one side of the upper surface. The front and rear sides are symmetrical and inclined, and the infrared light sensor 300 is attached to the front surface of the housing 100.

The infrared light sensor 300 emits light toward the front of the robot 1000 and detects an obstacle according to a change in the amount of light returned. The infrared light sensor 300 is connected to the controller 600 to adjust the driving direction of the driving unit 700 in the controller 600 according to the detection signal.

By the way, the infrared light sensor 300 can only detect the obstruction of the surface, such as the inner wall of the swimming pool.

And provided in the lower portion of the side of the housing 100 is a drive belt 200 of the endless track method. The drive belt 200 is driven by the drive unit 700 in the housing 100 and is made of rubber to be driven without sliding on the bottom of the pool. Here, the driving unit 700 is controlled by the controller 600 in the driving direction and the operating state.

In addition, the rotating shaft 400 penetrates to the side of the housing 100 and the inclined plate 410 is fixed to the rotating shaft 400. The rotating shaft 400 is penetrated so as to be rotatable in the housing 100, and the other side of the rotating shaft 400 is extended to the inside of the housing 100.

The inclined plate 410 is in the form of a rectangular plate made of a thin plastic, if the cleaning robot 1000 is moved upwards or upwards by the flow of water generated opposite to the moving direction when moving forward or backward. At this time, the rotating shaft 400 rotates together with the inclined plate 410.

In addition, it is a weight (410a) made of rubber that is inserted and fixed to the lower edge of the rotary shaft 400 long. The weight 410a is provided so that if the cleaning robot 1000 hits an obstacle and the water flow disappears, the inclined plate 410 raised by the current flows downward more quickly.

The inclined plate 410 is fixed to one side of the rotating shaft 400, at which time the inclined piece 420 is integrally fixed to the other side of the rotating shaft 400 is linked to the inclined plate 410. The motion detecting sensor 500 is attached to the inner wall of the housing 100 in close proximity to the inclined piece 420. The motion detection sensor 500 is for detecting the movement of the inclined piece 420.

At this time, if the inclined piece 420, which was raised in conjunction with the inclined plate 410, the water flow disappears and falls vertically downward, the motion detection sensor 500 to the lower portion of the rotating shaft 400 The inclined piece 420 is attached to the fall point.

2 is a block diagram illustrating an obstacle sensing structure according to the present invention.

As shown in FIG. 2, the rotation shaft 400 is installed perpendicularly to the housing 100. The inclined plate 410 and the inclined piece 420 are fixed to both sides of the rotation shaft 400.

At this time, the larger than the inclined plate 410 is located in the water in the outer side of the housing 100, the weight 410a in the form of a rubber rod is fixed to the lower edge. The smaller one is located inward of the housing 100 by the inclined piece 420. In addition, the inclined plate 410 and the inclined piece 420 are arranged to form the same plane on the rotation axis (400).

In addition, the inner surface of the housing 100 is provided with a motion sensor 500 to the lower portion of the rotating shaft (400). The motion sensor 500 is an infrared sensing structure, which is provided to detect the movement of the inclined piece 420 is attached to the position inclined downward 420 vertically.

If the cleaning robot 1000 is moved, water flow is generated to the side of the housing 100. This water flow exerts pressure on the inclined plate 410 such that the inclined plate 410 is raised upward.

By the way, the inclined plate 410 is connected to the rotation shaft 400 integrally with the inclined piece 420 is disposed in the same plane. Accordingly, the inclined piece 420 is also raised upward in the inclined direction of the inclined plate 410. At this time, when the cleaning robot 1000 stops and the water flow disappears, the inclined plate 410 falls down and falls downward.

* In addition, the inclined piece 420 also stops vertically downward in conjunction with this, and the movement of the inclined piece 420 is detected by the motion detection sensor 500 to determine that the cleaning robot 1000 hits an obstacle and stops. A structure can be provided.

3 is a block diagram showing an operating state of the obstacle sensing structure according to the present invention.

As shown in FIG. 3, the controller 600 is built in the cleaning robot 1000. The drive unit 700 and the motion detection sensor 500 of the cleaning robot 1000 are electrically connected to the controller 600.

The motion detection sensor 500 is attached to a position where the inclined piece 420 descends vertically downward so as to detect that the inclined piece 420 descends vertically downward.

If the inclined piece 420 is lowered vertically down, the motion detection sensor 500 detects this and sends the signal to the controller 600 as a signal. The controller 600 receives this and recognizes that the cleaning robot 1000 collides with an obstacle to manipulate the driving unit 700 to change the driving direction.

4 is a state diagram used of the cleaning robot according to the present invention.

As shown in FIG. 4, when the cleaning robot 1000 moves forward, the inclined plate 410 is raised upward in accordance with the water flow generated from the front to the rear.

The inclined plate 410 is provided with a structure in which the inclined piece 420 is lifted up in conjunction with the movement of the inclined plate 410 because the inclined piece 420 is fixed to the rotating shaft 400.

If the cleaning robot 1000 is stored in the swimming pool and moves to the ladder installed on the inner wall of the swimming pool, the cleaning robot 1000 is stopped.

However, since the ladder is a hull-shaped obstacle, it is not detected by the existing infrared light sensor 500. By the way, the inclined plate 410 of the side of the housing 100 comes down vertically as the cleaning robot 1000 is stopped and the water flow generated during the movement disappears.

At this time, the weight (410a) is provided in the lower portion of the inclined plate 410 has a faster falling speed.

However, the inclined plate 410 is connected to the inclined piece 420 by the rotation shaft 400. Therefore, the inclined piece 420 is also lowered vertically and the motion detection sensor 500 detects this.

Since the motion detection sensor 500 emits light due to the infrared light sensing structure, the inclination piece 420 may sense that the inclination piece 420 is lowered downward according to the change in the amount of light coming back to the edge of the inclination piece 420.

Accordingly, it is determined that the cleaning robot 1000 hits the obstacle, and the controller 600 controls the driving unit 700 to change the driving direction.

In the swimming pool cleaning robot 1000 having the obstacle sensing structure according to the water flow according to the present invention as described above, the inclined plate 410, in addition to being provided with one, it is replaced with a structure or screw structure is provided with a plurality of symmetrically Can be used.

In addition, the motion sensor 500 may be used in place of the ultrasonic sensing sensing structure, in addition to the illustrated infrared sensing structure.

In addition, the cleaning robot 1000 according to the present invention can be used for cleaning of water tanks, fish or fish farms of apartments or large-scale officetels, in addition to swimming pools.

According to the swimming pool cleaning robot having an obstacle sensing structure according to the water flow according to the present invention as described above, a structure for detecting a hull-shaped structure (for example, ladder, stepping, etc.) not detected by the existing infrared sensor only Im, there is a feature that can support a more smooth cleaning operation.

In addition, the structure is simple, there is an advantage that can be used to apply to the existing cleaning robot.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it is possible to make various modifications or variations without departing from the spirit and scope of the invention. Accordingly, the appended claims will cover such modifications and variations as fall within the spirit of the invention.

Claims (4)

In the swimming pool cleaning robot that moves in the water while detecting the presence / absence of the obstacle with the infrared light sensor 300 provided on the surface of the housing 100 and adjusts the driving direction of the drive unit 700 based on this, A rotating shaft 400 installed through the side of the housing 100 to enable rotation; An inclined plate 410 integrally provided on one side of the rotation shaft 400 to the outside of the housing 100 and being inclined upward by water flow; An inclined piece 420 integrally provided on the other side of the rotating shaft 400 inwardly of the housing 100 to cooperate with the inclined plate 410; A motion detection sensor 500 installed close to the inclined piece 420 to detect a movement of the inclined piece 420; And Pool 600 having an obstacle sensing structure according to the water flow, including; controller 600 for controlling the driving direction of the drive unit 700 in accordance with the detection signal is electrically connected to the motion detection sensor 500 sent out Cleaning robot. According to claim 1, The inclined plate 410 pool cleaning robot having an obstacle sensing structure according to the water flow, characterized in that relatively larger than the inclined piece (420). The pool cleaning robot of claim 1, wherein the inclined plate (410) is disposed on the same plane as the inclined piece (420). According to claim 1, The inclined plate 410 pool cleaning robot having an obstacle sensing structure according to the water flow, characterized in that is further provided with a weight (410a) fixed to the lower edge.

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